Rotating self-propelled endoscope device

ABSTRACT

A rotating self-propelled endoscope device  1  of the present invention comprises an insertion portion  2  to be inserted into a subject, a thrust generation portion  12  provided rotatably around a longitudinal axis of an outer circumference of the insertion portion, a rotary motive force generating unit  3  having a driving unit  45  for rotating the thrust generation portion, a detecting unit  52  for detecting physical information based on driving of the driving unit of the rotation driving portion, and a notifying unit  10  for notifying the physical information based on a detection result of the detecting unit, and a behavior of the thrust generating unit can be grasped by a user.

TECHNICAL FIELD

The present invention relates to a rotating self-propelled endoscopedevice that is self-propelled and inserted into a body cavity.

BACKGROUND ART

As is known, an endoscope is widely used in various fields includingmedicine and industries with the purpose of observing a portion in atube or the like that can not be visually checked directly and comprisesan elongated insertion portion to be inserted into a portion to beinspected in general.

These endoscopes are known in diversified structures. As one of theexamples, a rotating self-propelled endoscope having an insertionportion inserted into a colon per anum is known in which a rotatingcylindrical body capable of rotary motion is provided on an outercircumference of the insertion portion around a shaft provided with ahelical shape, and by rotating the rotating cylindrical body by a motoror the like, insertion of the insertion portion into the colon can beautomatically carried out by a screwing action using friction generatedbetween the helical shaped portion and an intestinal wall.

A technology to insert a medical instrument such as an endoscope into abody cavity using friction between a rotation driving member and atissue in the body cavity is disclosed in Japanese Patent ApplicationLaid-Open No. 10-113396, for example.

These endoscopes are provided in various types, one of which is arotating self-propelled endoscope configured to be inserted into a colonper anum in which a rotatable rotating cylindrical body havingflexibility is provided on the outer circumference side of the insertionportion around a shaft provided with a helical shaped portion and byrotating the rotating cylindrical body, insertion into the body cavityis automatically carried out. The rotating self-propelled endoscope hasa rotation driving portion connected to the insertion portion rotatingthe rotating cylindrical body around a predetermined shaft.

With the conventional rotating self-propelled endoscope, when theinsertion portion is being inserted into the colon, a behavior of therotating cylindrical body in the body cavity generating thrust byfriction with the intestinal wall is not known. Thus, an operator (user)can not grasp nonconformity that rotating speed of the rotatingcylindrical body is lowered or idled more than necessary in the colonand the thrust by the screwing action with the intestinal wall isdeteriorated. Also, in a bending state in the bending colon, therotating cylindrical body is preferably rotation-controlled with anoptimal rotary torque that can exert a sufficient thrust.

The present invention was made in view of the above circumstances andhas an object to provide a rotating self-propelled endoscope withimproved insertion performance into a body cavity by grasping a behaviorof the rotating cylindrical body in the body cavity from a rotatingspeed, rotary torque and the like of the rotating cylindrical body ofthe insertion portion self-propelled and inserted into the body cavitysuch as a colon.

DISCLOSURE OF INVENTION Means for Solving the Problem

A rotating self-propelled endoscope device of the present inventioncomprises an insertion portion to be inserted into a subject, a thrustgeneration portion provided rotatably around a longitudinal axis of anouter circumference of the insertion portion, rotary motive forcegenerating means having driving means for rotating the thrust generationportion, detecting means for detecting physical information based ondriving of the driving means of the rotation driving portion, andnotifying means for notifying the physical information based on adetection result of the detecting means.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a view illustrating configuration of a rotating self-propelledendoscope according to a first embodiment of the present invention.

FIG. 2 is a partial sectional view along an insertion axial directionshowing configuration of a distal end portion and an insertion portiondistal end side of the same.

FIG. 3 is a perspective view illustrating the entire insertion portionof the same.

FIG. 4 is a sectional view illustrating an inside of a rotation drivingportion of the same.

FIG. 5 is a block diagram illustrating electrical circuit configurationof the rotating self-propelled endoscope device of the same.

FIG. 6 is a flowchart illustrating an example of an operation to detecta rotating speed and rotary torque of a rotating cylindrical body by theelectrical circuit configuration in FIG. 5 of the same.

FIG. 7 is a block diagram illustrating electrical circuit configurationof a rotating self-propelled endoscope device according to a secondembodiment.

FIG. 8 is a flowchart illustrating an example of an operation to detectthe rotating speed and rotary torque of the rotating cylindrical body bythe electrical circuit configuration in FIG. 7 and to store the detecteddata in a memory device.

FIG. 9 is a block diagram illustrating electrical circuit configurationof a rotating self-propelled endoscope device according to a thirdembodiment.

FIG. 10 is a flowchart illustrating an example of a control operation bya control circuit to detect the rotating speed and rotary torque of therotating cylindrical body by the electrical circuit configuration inFIG. 9 of the same.

FIG. 11 is a flowchart illustrating a variation of a control operationby a control circuit by detecting a rotating speed and rotary torque ofthe rotating cylindrical body by the electric circuit configuration ofthe variation in FIG. 9.

FIG. 12 is a block diagram illustrating electric circuit configurationof a rotating self-propelled endoscope device according to a fourthembodiment for explaining a magnet for torque detection arranged on oneface of a pipe-side pulley.

BEST MODE FOR CARRYING OUT THE INVENTION

Embodiments of the present invention will be described below referringto the attached drawings.

First Embodiment

FIGS. 1 to 3 relate to a first embodiment of the present invention, inwhich FIG. 1 is a view illustrating configuration of a rotatingself-propelled endoscope device, FIG. 2 is a partial sectional viewillustrating configuration of a distal end portion and an insertionportion distal end side along an insertion axial direction, and FIG. 3is a perspective view illustrating the entire insertion portion.

As shown in FIG. 1, a rotating self-propelled endoscope device 1comprises an elongated insertion portion 2 inserted into a body cavity,a rotary motion driving portion 3, which is rotary motive forcegenerating means provided on the proximal end side of the insertionportion 2 and an operation portion 4, a universal cord 5 extended fromthe operation portion 4, a universal connector 6 provided on the distalend side of the universal cord 5, a control cable 7 extended from theuniversal connector 6, a control device 8 to which the control cable 7is detachably connected, for example, a foot switch 9 detachablyconnected to the control device 8, and a display device 10, which isnotifying means detachably connected to the control device 8.

The insertion portion 2 comprises a distal end portion 1 and a rotatingcylindrical body 12, which is thrust generating means consecutivelyprovided on the proximal end side of the distal end portion 11.Configuration of the insertion portion 2 provided with the distal endportion 11 will be described in more detail referring to FIG. 2.

As shown in FIG. 2, on a distal end face of the distal end portion 11,an objective optical system 21 is disposed, and an image pickup device22, which is image pickup means configured by CCD, CMOS and the like,for example, is disposed on an image forming face of the objectiveoptical system 21. Moreover, on the distal end face of the distal endportion 1, an LED 23 to be an illumination light source for illuminatinga subject to be a target of shooting by the objective optical system 21and the image pickup device 22 is provided. A signal line 22 a extendedfrom the image pickup device 22 and a signal line 23 a, which is a powerline extended from the LED 23 are bundled into a signal line in themiddle and extended to the proximal end side as a signal cable 26.

On the distal end face of the distal end portion 11, an air/waterfeeding nozzle 24 a is disposed for feeding water for washing theobjective optical system 21 and feeding air for wiping water dropletsadhering to the objective optical system 21. The air/water feedingnozzle 24 a is connected to an air/water feeding tube 24, which is afluid pipeline, and the air/water feeding tube 24 is extended to theproximal end side.

Moreover, on the distal end face of the distal end portion 11, anopening 25 a of a channel 25, which is a fluid pipeline used forsuction, for example, is exposed, and the channel 25 is extended to theproximal end side.

Also, on the proximal end side of the distal end portion 11, a hardmember to which the distal end side of the rotating cylindrical body 12is abutted an abutment portion 11 a as a thrust receiving portion madeof metal, for example, is provided. That is, as will be described later,a distal end portion of the rotating cylindrical body 12 in which athrust is generated is brought into contact with the abutment portion 11a so that the entire insertion portion 2 including the distal endportion 11 is advanced to the depth direction of the body cavity.

The rotating cylindrical body 12 in the present embodiment is a memberin which a metal wire is wound helically and a helical shaped portion tobe a helical projection portion (or helical recess portion or aprojection portion projected so as to be consecutively provided alongthe spiral) is formed on its outer circumferential face. In detail, therotating cylindrical body 12 is a helical tube considering insertionperformance into the body cavity and formed to have predeterminedflexibility by winding a metal wire made of stainless, for example, andhaving a predetermined diameter dimension in a single layer. Not limitedto the single layer, the metal wire may be wound in multiple threads(two threads, three threads, four threads or the like).

When the metal wire is to be wound helically, close contact between themetal wires can be improved or an angle of the spiral can be set invarious ways. In the present embodiment, the rotating cylindrical body12 in which a helical shaped portion as helical irregularity is formedon the outer circumferential face by winding the metal wire is used asan example, but the rotating cylindrical body may have a helical shapeportion in which a helical groove is formed on the outer surface of atube having flexibility, for example.

The rotating cylindrical body 12 is configured to be capable ofrotational movement around an axis in the insertion direction. When therotating cylindrical body 12 is rotated, the helical shaped portion onthe outer circumferential face is brought into contact with an innerwall of the body cavity in a subject, which generates a thrust, and therotating cylindrical body 12 itself attempts to advance in the insertiondirection. At this time, the distal end portion of the rotatingcylindrical body 12 is brought into contact with the abutment portion 11a so as to press the distal end portion 11, and a thrust for the entireinsertion portion 2 including the distal end portion 11 to advancetoward the depth of the body cavity is imparted. The rotatingcylindrical body 12 has, as shown in FIG. 3, its proximal end portionconnected to a front base 16, which is locking means with a plurality ofengagement projection portions 16 a formed.

On the inner circumferential face side of the rotating cylindrical body12, a tube 27 is disposed. The tube 27 has the above-mentioned air/waterfeeding tube 24, channel 25, and signal cable 26 inserted therethroughfor protection so that rotation of the rotating cylindrical body 12 isnot prevented on the outer circumferential face side. The tube 27 hasits distal end portion connected to the proximal end of the abutmentportion 11 a, and a fixed pipe 17, which is a hard fixed portion, isconnected to the proximal end portion.

The tube 27 has a length in the longitudinal direction longer than therotating cylindrical body 12, and the air/water feeding tube 24, channel25, and signal cable 26 are extended from the fixed pipe 17 connected tothe proximal end. The air/water feeding tube 24, channel 25, and signalcable 26 inserted through the insertion portion 2 are inserted throughthe rotary motion driving portion 3 and then, extended to the outsideagain from the rotary motion driving portion 3 (See FIG. 1).

An air/water connection portion 24 b is provided at the end portion ofthe air/water feeding tube 24, a suction connection portion 25 b at theend portion of the channel 25, and a signal connection portion 26 b atthe end portion of the signal cable 26, respectively, and they areconnected to a connection portion 31 (See FIG. 1) provided on the sideface of the operation portion 4.

Returning to the explanation of FIG. 1, the insertion portion 2 isconnected to a rotary motion transmission portion 14, which is rotarymotion transmitting means provided at the rotary motion driving portion3, and by the connection, a driving force of a motor, which will bedescribed later, provided inside the rotary motion driving portion 3 istransmitted to the rotating cylindrical body 12, by which the rotatingcylindrical body 12 is rotated. To the rotary motion transmissionportion 14, as will be described later, the insertion portion 2 isdetachably attached by screwing with a front retaining member 13.

A grasping portion 4 a to be grasped by the hand is provided at theoperation portion 4, and various operation buttons such as an air/waterfeeding button 4 b for operating air or water feeding through theair/water feeding tube 24 and a suction button 4 c for operating suctionthrough the channel 25 are provided.

In the universal cord 5 extended from the operation portion 4, anair/water feeding pipeline connected to the air/water feeding tube 24, asuction pipeline connected to the channel 25 or a signal line connectedto the signal cable 26 are disposed.

The universal connector 6 provided at the distal end side of theuniversal cord 5 is provided with a connection portion to an air feedingdevice, a connection portion to a water supply tank, a connectionportion to a suction pump, a connection portion to a video processor forprocessing an image signal from the image pickup device 22 and the like.

In the control cable 7 extended from the universal connector 6, a signalline to the rotary motion driving portion 3 and a signal line to the LED23 disposed in the distal end portion 11 are disposed.

The control device 8 to which the control cable 7 is connected controlsthe motor disposed in the rotary motion driving portion 3 or lightemitting state of the LED 23 and is provided with a power switch,various volume dials and the like.

The foot switch 9 controls the motor of the rotary motion drivingportion 3. However, the foot switch 9 may be used for controlling thelight emitting state of the LED 23.

The display device 10 is display means for digitizing and displaying arotating speed of the rotating cylindrical body 12, a torque, which is aload around a rotating shaft (hereinafter simply referred to as rotarytorque), and a driving current value of the motor, which is drivingmeans as will be described later.

In the above-mentioned configuration, the portions other than theinsertion portion 2, that is, the rotary motion driving portion 3,operation portion 4, universal cord 5, universal connector 6, controlcable 7, control device 8, and foot switch 9 constitute a fluid supplydevice. Moreover, as the fluid supply device, an air supply device, awater supply tank, a suction pump and the like may be included and avideo processor may be further included. Therefore, the rotatingself-propelled endoscope device 1 comprises at least a part of the fluidsupply device and the insertion portion 2.

On the lower face of the rotary motion driving portion 3, a plurality ofleg portions 15 used when mounting the rotary motion driving portion 3are provided.

Next, using FIG. 4, internal configuration of the rotary motion drivingportion 3 in a state where the proximal end portion of the detachablyattached insertion portion 2 is inserted will be described in detail.FIG. 4 is a sectional view illustrating the inside of the rotary motiondriving portion 3.

As shown in FIG. 4, the rotary motion driving portion 3 has a case 3 aforming an armor. In the case 3 a, two hole portions are provided at thefront and rear (the direction to which the insertion portion 2 extendsis set as the front) so that the insertion portion 2 can be insertedthereto.

At the hole portion on the front side of the case 3 a, a substantiallycylindrical front holder 33 in which an outward flange is formed in themiddle is disposed. The front holder 33 is inserted into the holeportion till the outward flange is brought into contact with the innerface in the vicinity of the hole portion on the front side of the case 3a, and a portion projected forward from the case 3 a is fixed to thecase 3 a by screwing with a front holder retaining ring 35.

At the hole portion on the rear side of the case 3 a, a substantiallycylindrical rear holder 34 in which an outward flange is formed at oneend is disposed. The rear holder 34 is inserted into the hole portiontill the outward flange is brought into contact with the inner face inthe vicinity of the hole portion on the rear side of the case 3 a, and aportion projected rearward from the case 3 a is fixed to the case 3 a byscrewing with a rear holder retaining ring 36.

At each of the holders 33, 34, peripheral grooves are formed one at aportion in contact with the inner circumferential face of each holeportion of the case 3 a and two on the inner circumferential face in itsvicinity, totaling in three grooves, and O-rings 33 a, 34 a forwaterproof are disposed at each peripheral groove.

In each of the holders 33, 34, a rotating pipe 37 is inserted so as toextend over the holders 33, 34. The rotating pipe 37 is rotated and heldby two bearings 39 provided at a frame 38 fixing the front holder 33 andprojects forward from an opening portion of the front holder 33.

In the middle of the rotating pipe 37 on the proximal end side (betweenthe bearing 39 and the rear holder 34), a pipe-side pulley 41 is fixedby a fixing screw 41 a. The pipe-side pulley 41 is rotated through apulley belt 42 by rotation of a motor-side pulley 46 of a motor 45provided with a reducer 45 a provided at the frame 38. By the operation,the rotating pipe 37 to which the pipe-side pulley 41 is fixed isrotated with rotation of the pipe-side pulley 41.

The reducer 45 a is provided so that a rotating speed of the motor-sidepulley 46 by the motor 45 is transmitted and rotates the pipe-sidepulley 41 at a desired rotating speed through the pulley belt 42 by adifference in diameter between the motor-side pulley 46 and thepipe-side pulley 41.

In the case 3 a of the rotary motion driving portion 3, waterproofagainst the outside is maintained by each of the O-rings 33 a, 34 adisposed on the inner circumferential face of each of the holders 33, 34during the rotation of the rotating pipe 37.

Into the rotating pipe 37, a fixed pipe 47 to which a rear base 48,which is connecting means, is connected at the rear end is inserted. Atthe rear base 48, a hole into which a fixed pipe 17 connected to a tube27 of the insertion portion 2 is inserted is formed at a center axis.Also, a plurality of screws 50 (only one of them is shown in FIG. 4) tobe projection portions locked by two notch 34 b forming a space formedat the rear holder 34 are screwed at the rear base 48 from the outercircumferential direction.

In the screw 50, a hole into which a screw 51 is inserted is formed atthe center axis. The screw 51 is screwed with the rear base 48 andpresses and fixes the fixed pipe 17 inserted into the rear base 48.Also, at the rear end portion of the rear holder 34, a substantiallyannular rear retaining member 49 is screwed so as to cover a cut portionof the notch 34 b.

Therefore, in the insertion portion 2 passing through each bendingportion in a body cavity, by configuring the rear base 48, the fixedpipe 17, and the tube 27 as above, rotation around the axis is regulatedand forward and backward movement in the axial direction is easilyenabled. That is, the screw 50 screwed to the rear base 48 has itsrotation in the direction crossing the axial direction (axial directionconnecting the front and the rear of the rotation driving portion 3,that is, in the direction of insertion axis of the insertion portion 2)regulated but becomes capable of moving freely to the front and rear ofthe rotary motion driving portion 3 in a space formed by the notch 34 bof the rear holder 34 and the rear retaining member 49.

By configuration as above, the tube 27 does not follow the rotation ofthe rotating cylindrical body 12 but its rotation around the axis isregulated. As a result the air/water feeding tube 24, the channel 25 andthe signal cable 26 inserted through the tube 27 are prevented frombeing damaged by twisting.

Also, in the air/water feeding tube 24, the channel 25, and the signalcable 26, generation of a forced load such as pulling and relaxing atforward/backward movement of the tube 27 in the insertion axialdirection with respect to the rotating cylindrical body 12 according tothe bending state of the insertion portion 2, for example, is prevented.

The rotating pipe 37 has a rotary motion transmission portion 14 fixedto a portion projecting forward by a plurality of screws 14 b (only oneof them is shown in FIG. 4). By the arrangement, the rotary motiontransmission portion 14 is rotated together with the rotating pipe 37.At the rotary motion transmission portion 14, a plurality of engagementgrooves 14 a (only one of them is shown in FIG. 4), which are engagedmeans along the axial direction, are formed axially from the end portionon the front side.

To the rotary motion transmission portion 14, the insertion portion 2 isconnected by engaging the front base 16 of the insertion portion 2 andscrewing the front retaining member 13. At this time, the engagementprojection portion 16 a, which is engaging means formed at the frontbase 16 is engaged with the engagement groove 14 a of the rotary motiontransmission portion 14. By the arrangement, a torque of the rotatingpipe 37 is surely transmitted to the insertion portion 2 through therotary motion transmission portion 14.

In detail, the engagement projection portion 16 a of the front base 16has the side face opposed to its axial direction brought into contactwith the side face opposed to the axial direction of the engagementgroove 14 a of the rotary motion transmission portion 14. Thus, axialrotation of the front base 16 with respect to the rotary motiontransmission portion 14 is regulated.

Therefore, the torque of the rotary motion transmission portion 14 issurely transmitted to the front base 16. As a result, the engagementprojection portion 16 a formed at the front base 16 is engaged with theengagement groove 14 a of the rotary motion transmission portion 14 inthe rotary motion driving portion 3 so that the torque from the rotatingpipe 37 is configured to be surely transmitted to the rotatingcylindrical body 12 through the rotary motion transmission portion 14.

Also, the fixed pipe 47 whose rotation is regulated has its distal endportion projected forward to the rotary motion transmission portion 14,and at the distal end face, a sliding ring 47 a is disposed. The slidingring 47 a is a member to alleviate friction resistance by contact of thedistal end face of the fixed pipe 47 with the proximal end face of thefront base 16.

Next, using FIGS. 5 and 6, electrical circuit configuration to detect abehavior of the rotating cylindrical body 12 in the present embodimentby a rotating state of the motor and to notify the state to the displaydevice 10 will be described. FIG. 5 is a block diagram illustratingelectrical circuit configuration of the rotating self-propelledendoscope device 1, and FIG. 6 is a flowchart illustrating an example ofan operation to detect a rotating speed and rotary torque of therotating cylindrical body 12 by the electrical circuit configuration inFIG. 5.

As shown in FIG. 5, the display device 10 as external equipmentconnected to the control device 8 is provided in the rotary motiondriving portion 3 and is electrically connected to a resistance element52, which is detecting means for detecting physical information of themotor 45 through the operation portion 4 and the universal cord 5 shownin FIG. 1. The resistance element 52 is electrically connected in serieswith the motor 45 and an ammeter 53, and a driving current is suppliedfrom a power source 54 to the resistance element 52, the motor 45, andthe ammeter 53.

The resistance element 52 is a resistor that converts the current of themotor 45 to a voltage and outputs the converted voltage to the displaydevice 10 and is a carbon resistor, for example. In the presentembodiment, the physical information of the motor 45 uses the resistanceelement 52 for detecting the rotating speed by an electric current butmay use a temperature sensor for detecting a temperature of the motor45, a vibration sensor for detecting vibration, a noise detection sensorfor detecting a noise or the like in order to detect abnormality of themotor 45.

Using a flowchart in FIG. 6, an example of an operation based on eachstep (S) for detecting the rotary torque of the motor 45 as well as therotating speed and rotary torque of the rotating cylindrical body 12 ofthe insertion portion 2 inserted into the body cavity of a subject inthe rotating self-propelled endoscope device 1 configured as above willbe explained.

First, an operator (user) inserts the insertion portion 2 of therotating self-propelled endoscope device 1 into a body cavity of apatient from an anus in the case of a colon inspection, for example. Andthe operator steps on the foot switch 9 so as to switch on and rotatethe rotating cylindrical body 12.

At this time, the motor 45 is driven (S1), and the pulley 46 on themotor side is rotated at a predetermined rotating speed and rotarytorque by the reducer 45 a. And by rotation of the pulley 46 on themotor side, rotation is transmitted to the pulley 41 on the pipe sidethrough the pulley belt 42, and the rotating cylindrical body 12 isrotated at a predetermined rotating speed, rotary torque through therotating pipe 37, the rotary motion transmission portion 14, and thefront base 16 (S2).

And as mentioned above, when the rotating cylindrical body 12 isrotated, the helical shaped portion on the outer circumferential face isbrought into contact with an intestinal wall of the subject and a thrustis generated, and the rotating cylindrical body 12 itself is going totravel in the direction of insertion. At this time, the distal endportion of the rotating cylindrical body 12 is brought into contact withthe abutment portion 11 a and presses the distal end portion 11, and athrust with which the entire insertion portion 2 including the distalend portion 11 advances toward the depth in the colon is applied.

With an insertion amount of the insertion portion 2 into the colon,friction resistance with the intestinal wall is applied to the rotatingcylindrical body 12, which lowers the rotating speed, and a rotarytorque for maintaining a predetermined thrust becomes necessary. At thistime, a load for maintaining the rotary torque is applied to the motor45, and a current value of the motor 45 is changed (S3). The ammeter 53detects a current value of the motor 45 all the time at insertion of theinsertion portion 2 into the colon (S4). That is, when the rotary torqueof the motor 45 is lowered, the current value for driving the motor 45is lowered.

The resistance element 52 converts voltage based on the changing currentof the motor 45 (S5) and outputs the voltage value on the display device10 (S6). And the display device 10 digitizes the rotating speed androtary torque, which is physical information of the rotating cylindricalbody 12 based on the detected voltage value inputted from the resistanceelement 52 and displays it on the display portion (S7).

By the operation, the operator can easily grasp the insertion state ofthe insertion portion 2 in the bending colon by the rotating speed androtary torque of the rotating cylindrical body 12 displayed on thedisplay device 10. That is, if the rotating speed in an optimalpredetermined range and the rotary torque in a predetermined range setin advance with which the rotating cylindrical body 12 makes a thrustaction in contact with the intestinal wall are displayed on the displaydevice 10, insertion of the insertion portion 2 while being propelledwithout trouble can be grasped.

For example, if the rotating speed or rotary torque in the predeterminedrange of the rotating cylindrical body 12 is lowered or the rotarytorque is increased, nonconformity such that the insertion portion 2does not generate a sufficient thrust in the colon, the insertionportion 2 receives an excessive torque in the colon or abnormalityoccurs in the motor 45 in the rotation driving portion 3 is consideredto occur. Thus, the operator releases the stepping-on on the foot switch9 to switch it off and stops the rotation of the rotating cylindricalbody 12 once. After that, the operator performs an operation at handsuch as twisting of the insertion portion or removal from the colon androtates the rotating cylindrical body 12 again so as to try insertion ofthe insertion portion 2 into the colon.

As the result of the above, according to the rotating self-propelledendoscope device 1 in the present embodiment, since the physicalinformation (rotating speed, rotary torque and the like) of the rotatingcylindrical body 12 generating a thrust can be obtained from the displaydevice 10 real time in order to grasp the insertion state of theinsertion portion 2 inserted into the body cavity, abnormality atinsertion of the insertion portion 2 can be easily detected.

A buzzer, an alarm lamp or the like as alarming means that makes analarm when the rotating speed in the optimal predetermined range and therotary torque in the predetermined range with which the above rotatingcylindrical body 12 makes a thrust action in contact with the intestinalwall become values outside the specified ranges may be provided on thedisplay device 10, or a vibration function as the alarming means may beadded to the operation portion 4.

Second Embodiment

Next, a rotating self-propelled endoscope device according to a secondembodiment of the present invention will be described using FIGS. 7 and8. In the description of the present embodiment, the same referencenumerals are used for the same configurations as those in the rotatingself-propelled endoscope device 1 in the first embodiment, and thedetailed description will be omitted. FIG. 7 is a block diagramillustrating an electric circuit configuration of the rotatingself-propelled endoscope device 1 according to the present embodiment,and FIG. 8 is a flowchart illustrating an example of an operation todetect the rotating speed and rotary torque of the rotating cylindricalbody 12 by the electric circuit configuration in FIG. 7 and to store thedetected data in the memory device.

To the rotating self-propelled endoscope device 1 of the presentembodiment, as shown in FIG. 7, a memory device 55, which is a storagemedium for storing the rotating speed and rotary torque of the motor 45,is electrically connected to the resistance element 52. The memorydevice 55 is supplied with power from the power source 54.

Using the flowchart in FIG. 8, an example to detect the rotating speedand rotary torque, which is the physical information of the rotatingcylindrical body 12 of the insertion portion 2 inserted into the bodycavity (into a colon) of a subject, and to store the detected data inthe memory device 55 in the rotating self-propelled endoscope device 1of the present embodiment configured as above will be described based oneach Step (S). Since Step S11 to Step S15 shown in FIG. 8 in the presentembodiment are the same as the operation in Step S1 to Step S5 describedusing FIG. 6 in the first embodiment, the detailed description will beomitted.

In the rotating self-propelled endoscope device 1 of the presentembodiment, a voltage value converted by the resistance element 52 atStep S15 is outputted to the display device 10 through the memory device55 as shown in FIG. 8 (S16). At this time, the memory device 55 storesinformation data of the voltage value (S17).

The display device 10 into which the voltage value is inputted throughthe memory device 55 digitizes the rotating speed and rotary torque,which is the physical information of the rotating cylindrical body 12,based on the detected voltage value and displays it on the displayportion (S18) and also outputs the physical information of the rotatingcylindrical body 12 to the memory device 55.

The memory device 55 stores the inputted data of physical information ofthe rotating cylindrical body 12 (S19).

As mentioned above, in addition to the advantage of the firstembodiment, the rotating self-propelled endoscope device 1 of thepresent embodiment can store the physical information, which is thevoltage value of the motor 45 and an operation history of the rotatingcylindrical body 12, by providing the memory device 55 and is configuredto be able to utilize the various information as data for repair at afailure or the like.

Third Embodiment

Next, a rotating self-propelled endoscope device according to a thirdembodiment of the present invention will be described using FIGS. 9 and10. In the description of the present embodiment, the same referencenumerals are used for the same configurations as those in the rotatingself-propelled endoscope device 1 in each of the above embodiments, andthe detailed description will be omitted. FIG. 9 is a block diagramillustrating electric circuit configuration of the rotatingself-propelled endoscope device 1 according to the present embodiment,and FIG. 10 is a flowchart illustrating an example of a controloperation by a control circuit to detect the rotating speed and rotarytorque of the rotating cylindrical body 12 by the electric circuitconfiguration in FIG. 9.

In the rotating self-propelled endoscope device 1 of the presentembodiment, a control circuit 56 electrically connected in series to themotor 45, the resistance element 52, and the ammeter 53 is provided asshown in FIG. 9. The control circuit 56 is disposed within the rotationdriving portion 3, though not shown in FIG. 9, and electricallyconnected also to the power source 54. A driving current from the powersource 54 is supplied to the motor 45, the resistance element 52, andthe ammeter 53 through the control circuit 56.

An example of control to detect the rotating speed and rotary torque,which is the physical information of the rotating cylindrical body 12 ofthe insertion portion 2 inserted into the body cavity (into a colon) ofa subject, in the rotating self-propelled endoscope device 1 of thepresent embodiment configured as above will be described using theflowchart of FIG. 10. Since Step S21 to Step S25 shown in FIG. 10 in thepresent embodiment are the same as the operation in Steps S1 to S5described using FIG. 6 in the first embodiment and Step S26 to Step S29shown in FIG. 10 are the same as the operation in Step S16 to S19described using FIG. 8 in the second embodiment, the detaileddescription will be omitted.

In the rotating self-propelled endoscope device 1 of the presentembodiment, the control circuit 56 connected to the ammeter 53 monitorsa current value supplied to the motor 45, and as shown in FIG. 10,determination on whether the current value is outside a threshold valuein a predetermined range, an abnormal current value, or not is made atStep S30 by the control circuit 56 (S30).

At Step S30, if the current value supplied to the motor 45 is within athreshold value in a predetermined range under the determination by thecontrol circuit 56, the routine returns to Step S24 again, while if thecurrent value is outside the threshold value in the predetermined range,the control circuit 56 stops current supply to the motor 45 and stopsdriving of the motor 45 (S31). The determination made by the controlcircuit 56 at Step S30 may be made by setting predetermined thresholdvalues for the rotating speed and rotary torque in appropriatepredetermined ranges of the rotating cylindrical body 12 and bycomparing the rotating speed and rotary torque derived from the currentvalues supplied to the motor 45 with the threshold values in thepredetermined ranges.

As mentioned above, the rotating self-propelled endoscope device 1 ofthe present embodiment can determine abnormality and automatically stopdriving of the motor 45 and rotation of the rotating cylindrical body 12by providing the control circuit 56, in addition to the advantage of thesecond embodiment, in the case of abnormality of the motor 45 drivingthe rotating cylindrical body 12 or if the appropriate predeterminedrotating speed and rotary torque of the rotating cylindrical body 12 areexceeded.

The control circuit 56 may carry out control based on a flowchart shownin FIG. 11. FIG. 11 is a flowchart illustrating a variation of a controloperation by the control circuit to detect the rotating speed and rotarytorque of the rotating cylindrical body 12 by the electrical circuitconfiguration in FIG. 9. Since Step S41 to Step S49 shown in FIG. 11 arethe same operations as Step S21 to Step S29 described using FIG. 10, thedetailed description will be omitted.

After the data of physical information of the rotating cylindrical body12 is stored in the memory device 55 at Step S49, the control circuit 56carries out induction voltage E-conversion of the motor 45 based on thecurrent value detected by the ammeter 53 (S50). The control circuit 56determines if a predetermined reference induction voltage Eα in themotor 45 set in advance and the induction voltage E converted at StepS50 are the same voltage value (E=Eα) or not (S51).

If the control circuit 56 determines that the reference inductionvoltage Ea in the motor 45 and the induction voltage E are the samevoltage value (E=Ea), the routine goes to Step S44 and the routines ofSteps S44 to S51 is looped in the insertion process of the insertionportion 2 into the colon. On the other hand, if the control circuit 56determines that the reference induction voltage Eα in the motor 45 andthe induction voltage E are different voltage values (E>Eα, E<Eα), thecontrol circuit 56 changes a supply voltage to the motor 45 so that thereference induction voltage Eα in the motor 45 and the induction voltageE become the same voltage value (E=Eα) (S52).

Next, a current value of the motor 45 is detected by the ammeter 53(S53), and determination on whether the current value is outside athreshold value in a predetermined range, an abnormal current value,here, or not is made by the control circuit 56 (S54).

At the Step S54, under the determination by the control circuit 56, ifthe current value supplied to the motor 45 is within a threshold valuein a predetermined range, the routine returns to Step S45 again, whileif the current value is outside the threshold value in the predeterminedrange, the control circuit 56 stops current supply to the motor 45 andstops driving of the motor 45 (S55).

As mentioned above, since the rotating self-propelled endoscope device 1of the present variation can maintain the rotating speed and rotarytorque of the motor 45 driving the rotating cylindrical body 12, therotating cylindrical body 12 acts on the intestinal wall while thepredetermined rotating speed and rotary torque set in advance aremaintained constant, and insertion performance of the insertion portion2 into the bending colon is improved in addition to each of theabove-mentioned advantages.

Fourth Embodiment

Next, a rotating self-propelled endoscope device according to a fourthembodiment will be described using FIG. 12. In the description of thepresent embodiment the same reference numerals are used for the sameconfigurations as those in the rotating self-propelled endoscope device1 in each of the above embodiments, and the detailed description will beomitted. FIG. 12 is a block diagram illustrating electric circuitconfiguration of the rotating self-propelled endoscope device 1according to the present embodiment for explaining a magnet for torquedetection disposed on one face of the pulley 41 on the pipe side.

The rotating self-propelled endoscope device 1 of the present inventionhas, as shown in FIG. 12, a magnet 58 for torque detection in which amagnetic body with a plurality of S-poles and a plurality of N-polesarranged alternately in the circumferential direction is disposed on oneface of the pulley 41 on the pipe side, on the proximal end face in thiscase, and a magnetic detection portion 57, which is detecting means fordetecting magnetism of the magnet 58 for torque detection.

The magnetic detection portion 57 is electrically connected to thecontrol circuit 56, and the detected magnetism of the S-pole or N-poleof the magnet 58 for torque detection is outputted to the controlcircuit 56. That is, the magnetic detection portion 57 detects therotating speed and rotary torque, which is the physical information ofthe pulley 41 on the pipe side, by passage of the S-pole or N-pole ofthe magnet 58 for torque detection by rotation of the pulley 41 on thepipe side and outputs the detection result to the control circuit 56.

As a result, the magnetic detection portion 57 can detect the physicalinformation (rotating speed and rotary torque) of the rotatingcylindrical body 12 to which the rotating speed and rotary torque of thepulley 41 on the pipe side is transmitted. By the operation, a valuedetected by the magnetic detection portion 57 can be made into thephysical information data of the rotating cylindrical body 12 stored inthe memory device 55 described in the third embodiment and into thephysical information of the rotating cylindrical body 12 displayed onthe display device 10. Moreover, the control circuit 56 can makedetermination by comparing the rotating speed and rotary torque set inthe predetermined range of the rotating cylindrical body 12 based on thevalue detected by the magnetic detection portion 57.

The threshold value of the physical information data of the rotatingcylindrical body 12 can be configured as variable by replacing theresistance element 52 in each of the above embodiments by apotentiometer.

The present invention is not limited to the above embodiments but it isneedless to say that various variations and applications are possible ina range not departing from the gist of the invention.

1. A rotating self-propelled endoscope device comprising: an insertionportion to be inserted into a subject; a trust generation portionprovided rotatably around a longitudinal axis of an outer circumferenceof the insertion portion; rotary motive force generating means havingdriving means for rotating the thrust generation portion; detectingmeans for detecting physical information based on driving of the drivingmeans of the rotation driving portion; and notifying means for notifyingthe physical information based on a detection result of the detectingmeans.
 2. A rotating self-propelled endoscope device comprising: aninsertion portion to be inserted into a subject; a thrust generationportion provided rotatably around a longitudinal axis of an outercircumference of the insertion portion; rotary motive force generatingmeans having driving means for rotating the thrust generation portion;detecting means for detecting physical information based on driving ofthe driving means of the rotation driving portion; and a control portionfor controlling rotation of the thrust generation portion based on adetection result of the detecting means.
 3. The rotating self-propelledendoscope device according to claim 1, wherein the physical informationis a torque amount of the driving means.
 4. The rotating self-propelledendoscope device according to claim 1, wherein the physical informationis a driving current value of the driving means.
 5. The rotatingself-propelled endoscope device according to claim 1, wherein thephysical information is a torque amount of the thrust generationportion.
 6. The rotating self-propelled endoscope device according toclaim 1, wherein the notifying means digitizes and displays the physicalinformation.
 7. The rotating self-propelled endoscope device accordingto claim 1, further comprising alarming means for notifying abnormalityby an alarm sound, vibration or lighting of a light emitting body when avalue of the physical information becomes a value outside apredetermined range.
 8. The rotating self-propelled endoscope deviceaccording to claim 1, further comprising a storage medium for storingthe physical information.
 9. The rotating self-propelled endoscopedevice according to claim 1, wherein the detecting means is apotentiometer which can vary a threshold value of the physicalinformation.
 10. The rotating self-propelled endoscope device accordingto claim 2, wherein the physical information is a torque amount of thedriving means.
 11. The rotating self-propelled endoscope deviceaccording to claim 2, wherein the physical information is a drivingcurrent value of the driving means.
 12. The rotating self-propelledendoscope device according to claim 2, wherein the physical informationis a torque amount of the thrust generation portion.
 13. The rotatingself-propelled endoscope device according to claim 2, wherein thenotifying means digitizes and displays the physical information.
 14. Therotating self-propelled endoscope device according to claim 2, furthercomprising alarming means for notifying abnormality by an alarm sound,vibration or lighting of a light emitting body when a value of thephysical information becomes a value outside a predetermined range. 15.The rotating self-propelled endoscope device according to claim 2,further comprising a storage medium for storing the physicalinformation.
 16. The rotating self-propelled endoscope device accordingto claim 2, wherein the detecting means is a potentiometer which canvary a threshold value of the physical information.